CN105705305B - 检测装置和检测方法 - Google Patents

检测装置和检测方法 Download PDF

Info

Publication number
CN105705305B
CN105705305B CN201480061270.1A CN201480061270A CN105705305B CN 105705305 B CN105705305 B CN 105705305B CN 201480061270 A CN201480061270 A CN 201480061270A CN 105705305 B CN105705305 B CN 105705305B
Authority
CN
China
Prior art keywords
robot
industrial robot
detection device
detection
load
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201480061270.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN105705305A (zh
Inventor
理查德·聪克
A·多姆克
K·沃斯
T·劳
J·施托克施莱德
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Systems GmbH
Original Assignee
KUKA Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Systems GmbH filed Critical KUKA Systems GmbH
Publication of CN105705305A publication Critical patent/CN105705305A/zh
Application granted granted Critical
Publication of CN105705305B publication Critical patent/CN105705305B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0095—Means or methods for testing manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G01L5/0076—Force sensors associated with manufacturing machines
    • G01L5/008—Force sensors integrated in an article or a dummy workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37205—Compare measured, vision data with computer model, cad data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39013—Locate movable manipulator relative to object, compare to stored gridpoints
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39031—Use of model for robot and for measuring device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39319—Force control, force as reference, active compliance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40226—Input control signals to control system and to model, compare their outputs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42288—Limit, stop drive current if axis obstructed, blocked, force against stop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49162—On collision, obstruction reverse drive, accelerate, cancel inertia

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN201480061270.1A 2013-11-08 2014-11-06 检测装置和检测方法 Expired - Fee Related CN105705305B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE202013105036.9 2013-11-08
DE202013105036.9U DE202013105036U1 (de) 2013-11-08 2013-11-08 Erfassungseinrichtung
PCT/EP2014/073871 WO2015067680A2 (de) 2013-11-08 2014-11-06 Erfassungseinrichtung und erfassungsverfahren

Publications (2)

Publication Number Publication Date
CN105705305A CN105705305A (zh) 2016-06-22
CN105705305B true CN105705305B (zh) 2019-05-10

Family

ID=52580295

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480061270.1A Expired - Fee Related CN105705305B (zh) 2013-11-08 2014-11-06 检测装置和检测方法

Country Status (5)

Country Link
US (1) US9962836B2 (de)
EP (1) EP3066441A2 (de)
CN (1) CN105705305B (de)
DE (1) DE202013105036U1 (de)
WO (1) WO2015067680A2 (de)

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202015101427U1 (de) * 2015-03-20 2016-06-21 Kuka Systems Gmbh Montageeinrichtung
DE102015214170A1 (de) * 2015-07-27 2017-02-02 Kuka Roboter Gmbh Roboter mit einer Kraftmesseinrichtung
EP3189947A1 (de) * 2016-01-07 2017-07-12 Sick Ag Verfahren zum konfigurieren und zum betreiben einer überwachten automatisierten arbeitszelle und konfigurationsvorrichtung
JP6504073B2 (ja) 2016-02-15 2019-04-24 オムロン株式会社 作業領域推定装置、制御装置、制御システム、作業領域推定方法およびプログラム
JP6733239B2 (ja) * 2016-03-18 2020-07-29 セイコーエプソン株式会社 制御装置及びロボットシステム
US11045955B2 (en) * 2016-05-26 2021-06-29 Mitsubishi Electric Corporation Robot control device
CN106041926B (zh) * 2016-06-12 2018-10-19 哈尔滨工程大学 一种基于卡尔曼滤波器的工业机械臂力/位置混合控制方法
CN105904483B (zh) * 2016-06-16 2018-10-16 芜湖润众机器人科技有限公司 机械手工作平台
CN106003049B (zh) * 2016-07-05 2018-06-12 李亚楠 人-机协作系统的控制方法
CN107717982B (zh) * 2016-08-12 2020-09-25 财团法人工业技术研究院 机械手臂的控制装置及操作方法
JP6585574B2 (ja) 2016-09-30 2019-10-02 ファナック株式会社 作業者とロボットとの協働作業を行う生産システム
CN106406312B (zh) * 2016-10-14 2017-12-26 平安科技（深圳）有限公司 导览机器人及其移动区域标定方法
DE102017106791A1 (de) * 2017-03-29 2018-10-04 Kuka Deutschland Gmbh Überwachungsverfahren und Überwachungssystem
DE102017004433B4 (de) * 2017-05-08 2019-03-14 Kuka Deutschland Gmbh Roboterjustage
JP2019000930A (ja) * 2017-06-13 2019-01-10 住友理工株式会社 安全装置
JP2019015518A (ja) * 2017-07-03 2019-01-31 国立大学法人名古屋大学 接触圧解析システムおよび人体部位モデル
DE102017007359B4 (de) 2017-08-04 2021-07-08 Kuka Deutschland Gmbh Verfahren und System zum Überprüfen und/oder Modifizieren eines Arbeitsprozesses eines Roboters
KR102418451B1 (ko) * 2017-12-27 2022-07-07 주식회사 한화 로봇 제어 시스템
CN107932488A (zh) * 2017-12-29 2018-04-20 苏州奥曼恩自动化科技有限公司 一种机器人外轴
CN108262766A (zh) * 2018-01-03 2018-07-10 中科新松有限公司 一种协作机器人的检测装置
CN110053040B (zh) * 2018-01-18 2021-03-02 深圳市裕展精密科技有限公司 机器人工具面的校准方法
DE102018104491A1 (de) * 2018-02-27 2019-08-29 Putzmeister Engineering Gmbh Großmanipulator mit Schwingungsdämpfer
DE102018204184A1 (de) * 2018-03-19 2019-09-19 Leoni Kabel Gmbh Verfahren zur Überwachung eines Versorgungssystems eines Roboters
JP6910991B2 (ja) * 2018-07-02 2021-07-28 日本電産コパル電子株式会社 トルクセンサの支持装置
CN109434837B (zh) * 2018-12-18 2021-04-20 南京工程学院 一种并联机器人初始位置标定装置
DE102018133418B3 (de) * 2018-12-21 2020-03-26 Battenberg Robotic Gmbh & Co. Kg Verfahren zur Messung der Steifigkeit eines Körpers
US10928227B2 (en) * 2019-04-15 2021-02-23 Caterpillar Inc. Mounting system for mounting a sensor assembly
CN110405807B (zh) * 2019-08-13 2021-02-05 福建省特种设备检验研究院 基于特种机器人末端执行器性能综合测试系统的检测方法
CN111168718B (zh) * 2020-01-03 2021-06-22 北京理工大学 协作型机械臂与环境碰撞力与碰撞功率检测装置
DE102020113414B3 (de) 2020-05-18 2021-11-18 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Messhalterung für einen Greifer, Messvorrichtung und Messverfahren
DE102020208435A1 (de) * 2020-07-06 2022-01-27 Siemens Aktiengesellschaft Erfassen von Parametern eines Roboteraufbaus
CN112092015B (zh) * 2020-09-10 2022-02-01 中科新松有限公司 机器人碰撞检测测试方法
CN113580203B (zh) * 2021-09-28 2021-11-30 季华实验室 机械臂碰撞检测性能的评估系统
CN118205012A (zh) * 2022-12-16 2024-06-18 精工爱普生株式会社 机器人检查系统
CN116330355B (zh) * 2023-05-30 2023-08-04 山东致远通信网络有限公司 一种agv智能机器人制动性能测试装置

Family Cites Families (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007C (de)
JP2523724B2 (ja) * 1987-12-04 1996-08-14 株式会社日立製作所 マニピユレ―タの性能評価装置
US5495410A (en) * 1994-08-12 1996-02-27 Minnesota Mining And Manufacturing Company Lead-through robot programming system
US6539771B1 (en) * 2000-05-12 2003-04-01 Delphi Technologies, Inc. Seat sensor calibration method and system
US20020066302A1 (en) * 2000-12-05 2002-06-06 Hamm James R. Seat sensor calibration system and related method
DE10162412A1 (de) 2001-12-19 2003-07-10 Kuka Roboter Gmbh Einrichtung und Verfahren zum Sichern von Vorrichtungen mit frei im Raum beweglichen Teilen
US6678582B2 (en) * 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
DE10226853B3 (de) * 2002-06-15 2004-02-19 Kuka Roboter Gmbh Verfahren zum Begrenzen der Krafteinwirkung eines Roboterteils
NZ520450A (en) * 2002-07-30 2004-12-24 Mooring Systems Ltd Method of controlling a mooring system
JP2004148466A (ja) * 2002-10-31 2004-05-27 Yaskawa Electric Corp ロボット制御装置
DE10304019A1 (de) * 2003-02-01 2004-11-04 Kuka Roboter Gmbh Verfahren zum Überwachen einer Maschine und derartige Maschine, insbesondere Roboter
SE0400320D0 (sv) * 2004-02-06 2004-02-06 Abb Ab Control method for robots
DE102006055849A1 (de) 2006-11-27 2008-05-29 Innotec Gmbh Verfahren zur sicherheitsgerichteten Abschaltung von Bewegungsvorgängen im Kollisionsfall
DE102007014023A1 (de) 2007-03-23 2008-09-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter-Manipulatorarm-Gelenkantrieb
DE102007028758B4 (de) 2007-06-22 2009-04-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) Roboter-Manipulator-Gelenkantrieb
WO2009020600A1 (en) 2007-08-06 2009-02-12 Abb Research Ltd. Force controlled robots
DE102007050232B4 (de) * 2007-10-20 2024-05-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Handhabungsroboter und Verfahren zur Steuerung eines Handhabungsroboters
DE102007063099A1 (de) 2007-12-28 2009-07-02 Kuka Roboter Gmbh Roboter und Verfahren zum Überwachen der Momente an einem solchen
DE102008041602B4 (de) 2008-08-27 2015-07-30 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter und Verfahren zum Steuern eines Roboters
WO2010024794A1 (en) * 2008-08-29 2010-03-04 Abb Research Ltd. Compliant apparatus for the tool at the end of an arm of an industrial robot
JP5375062B2 (ja) * 2008-12-10 2013-12-25 株式会社安川電機 ロボットシステムおよび制御方法
JP4648486B2 (ja) * 2009-01-26 2011-03-09 ファナック株式会社 人間とロボットとの協調動作領域を有する生産システム
JP5402119B2 (ja) * 2009-03-16 2014-01-29 株式会社Ｉｈｉ 組立装置
CN102387900B (zh) * 2009-03-27 2015-06-03 Abb股份公司 真正安全的小型机器人和用于控制此机器人的方法
DE102009047033A1 (de) 2009-11-24 2011-05-26 Robert Bosch Gmbh System und Verfahren zur Kollisionserkennung bei Fertigungs- oder Montageautomaten
US8601897B2 (en) 2009-11-30 2013-12-10 GM Global Technology Operations LLC Force limiting device and method
SE1050763A1 (sv) * 2010-07-08 2010-07-12 Abb Research Ltd En metod för att kalibrera en mobil robot
US9731419B2 (en) * 2010-08-03 2017-08-15 Praxair S.T. Technology, Inc. System and method for programming robots
JP4938118B2 (ja) 2010-08-17 2012-05-23 ファナック株式会社 人間協調ロボットシステム
DE202012101121U1 (de) * 2012-03-29 2013-07-16 Kuka Systems Gmbh Trenneinrichtung
DE102012015975A1 (de) 2012-08-11 2013-03-21 Daimler Ag Verfahren zum Betreiben eines Sicherheitssystems für eine Produktionsstation und Sicherheitssystem für eine Produktionsstation
JP5926346B2 (ja) * 2014-09-25 2016-05-25 ファナック株式会社 人間協調ロボットシステム

Also Published As

Publication number Publication date
EP3066441A2 (de) 2016-09-14
WO2015067680A2 (de) 2015-05-14
US20160279797A1 (en) 2016-09-29
DE202013105036U1 (de) 2015-02-10
WO2015067680A3 (de) 2015-10-01
CN105705305A (zh) 2016-06-22
US9962836B2 (en) 2018-05-08

Similar Documents

Publication Publication Date Title
CN105705305B (zh) 检测装置和检测方法
CN105793666B (zh) 在工具中心点处使用校准激光头校准坐标测量机
CN107848122B (zh) 具有力测量装置的机器人
US10300608B2 (en) Robot operating apparatus provided with handles for operating robot
US9662790B2 (en) Robot controller and robot system for moving robot in response to force
CA2553476A1 (en) Automated robotic measuring system
EP3315904B1 (de) Dickendetektionsexperimentplattform
JP2020537151A (ja) 座標位置決め装置
CN110186553B (zh) 振动分析装置以及振动分析方法
EP3922384A1 (de) Arbeitsmaschineneinheit und gelenkroboter
CN112077816B (zh) 遥操作设备力反馈功能的测试装置及方法
KR20160148203A (ko) 인체 상해 평가를 위한 충돌시험장치
CN103958133A (zh) 抗冲击结构
CN110944808A (zh) 铰接臂机械手的装置和确定铰接臂机械手的端部执行器的支架的位置的方法
CN102896629A (zh) 机器人和用于制造机器人的方法
KR20170125088A (ko) 로봇, 로봇의 제어 방법, 워크의 장착 방법 및 워크의 반송 방법
KR20210102778A (ko) 로봇 접촉력 평가용 더미 및 이를 이용한 로봇 안전성 시험 장치
JP5706685B2 (ja) コンプライアンス装置及びこれを備えたロボットアームの構造
US20210229296A1 (en) Robot Gripper Having A Drive Device
KR101952043B1 (ko) 6축 힘/모멘트 측정 기능을 갖는 베이스플랫폼 장치
Herbin et al. Six-axis control joystick based on tensometric beam
KR101299280B1 (ko) 가공성 평가용 봉강 고정장치
US20160207191A1 (en) Lifting device for use at a manual work station
Garant et al. Noncollocated proprioceptive sensing for lightweight flexible robotic manipulators
KR20160134328A (ko) 인체 충돌 시험용 간이 충돌 더미

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20190510

Termination date: 20201106

CF01 Termination of patent right due to non-payment of annual fee